CN114459465B - Online compensation method for MEMS inertial measurement unit azimuth - Google Patents

Online compensation method for MEMS inertial measurement unit azimuth Download PDF

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CN114459465B
CN114459465B CN202110231341.XA CN202110231341A CN114459465B CN 114459465 B CN114459465 B CN 114459465B CN 202110231341 A CN202110231341 A CN 202110231341A CN 114459465 B CN114459465 B CN 114459465B
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scale factor
mems inertial
measurement unit
reverse
inertial measurement
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CN114459465A (en
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朱正辉
赵金栋
蔡德淮
虞磊
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Beijing Tianbing Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Gyroscopes (AREA)

Abstract

The invention relates to an on-line compensation method for the orientation of an MEMS inertial measurement unit, which comprises the following steps: measuring a forward direction error angle of the MEMS inertial measurement unit, substituting the forward direction error angle into a forward scale factor error calculation formula to obtain a forward scale factor error; compensating the scale factors of the MEMS inertial group by using the forward scale factor errors, and calculating to obtain compensated forward scale factors; measuring a reverse azimuth error angle of the MEMS inertial measurement unit, substituting the reverse azimuth error angle into a reverse scale factor error calculation formula, and obtaining a reverse scale factor error; compensating the scale factors of the MEMS inertial measurement unit by using the reverse scale factors, and calculating the compensated reverse scale factors; the forward scale factors and the reverse scale factors are used to compensate for scale factor asymmetry errors.

Description

Online compensation method for MEMS inertial measurement unit azimuth
Technical Field
The invention relates to the technical field of inertial detection, in particular to an on-line compensation method for the orientation of an MEMS inertial measurement unit.
Background
In recent years, as an important part of inertial navigation technology, MEMS inertial components have been rapidly developed due to their advantages of small size, low cost, light weight, and high integration compared with conventional inertial components, and have been widely used in inertial navigation, industrial control, and electronic consumption fields. However, due to factors such as manufacturing process, design level and the like, the measuring precision of the device is low, the actual use requirement cannot be met, and the development and application of the MEMS inertial measurement unit are severely restricted. The unrestrained pursuit of higher precision, the more stable inertial device can put forward extremely high and even unable requirement of accomplishing to the processing of current device, must cause the sharp improvement of system cost, so realize carrying out online error compensation on the basis of the precision of current device, further improve MEMS inertial device use precision is necessary.
The MEMS inertial measurement unit scale factors cannot be calibrated to be absolute accurate, and scale factor errors always exist in a practical system. In addition, due to principle, process and the like, the common scale factors have asymmetry, which is a main reason for causing that the MEMS inertial measurement unit is not closed in forward rotation and reverse rotation 360 degrees directions and the non-closed angles are different. In actual use, this asymmetry is typically ignored or the scale factors are taken directly as an average of the forward and reverse scale factors, which can cause some azimuthal error. In addition, the gyro scale factor asymmetric device level test method based on the national army scale is characterized in that a gyro is required to be placed on a turntable for forward and reverse rotation test, the scale flow is complex, and certain requirements are provided for operation equipment.
Disclosure of Invention
Aiming at the problems that the forward rotation and reverse rotation directions of the MEMS inertial measurement unit are not closed and the non-closing angles are different at present, the invention provides an online compensation method for the direction of the MEMS inertial measurement unit, which further improves the effective use precision of the direction of the MEMS inertial measurement unit, and has simple scale flow without a complex test bench.
In order to achieve the above purpose, the invention provides an on-line compensation method for the orientation of an MEMS inertial measurement unit, which comprises the following steps:
measuring a forward direction error angle of the MEMS inertial measurement unit, and calculating a forward scale factor error by a forward scale factor error calculation formula;
compensating the scale factors of the MEMS inertial group by using the forward scale factor errors, and calculating to obtain compensated forward scale factors;
measuring a reverse azimuth error angle of the MEMS inertial measurement unit, and calculating a reverse scale factor error by a reverse scale factor error calculation formula;
compensating the scale factors of the MEMS inertial group by using the reverse scale factor errors, and calculating the compensated reverse scale factors;
the forward scale factors and the reverse scale factors are used to compensate for scale factor asymmetry errors.
Further, deriving the error of the forward scale factor includes:
the MEMS inertial measurement unit is abutted against a vertical wall surface and rotated forward 360 degrees, and a forward direction azimuth error angle delta theta is obtained 1 ，
Calculating a forward scale factor error K 1 ：
Further, a compensated forward scale factor S is calculated (+) ：
S (+) ＝S(1-K 1 )，
Wherein K is 1 For a forward scale factor error, S is the scale factor of the MEMS inertial group.
Further, deriving an error of the inverse scale factor comprises:
the MEMS inertial measurement unit is abutted against a vertical wall surface and is reversed by 360 degrees, and a reverse azimuth error angle delta theta is obtained 2 ，
Calculating a reverse scale factor error K 2 ：
。
Further, a compensated reverse scale factor S is calculated (-) ：
S (-) ＝S(1-K 2 )，
Wherein K is 2 For reverse scale factor error, S is the scale factor of the MEMS inertial group.
Further, when the MEMS inertial measurement unit rotates positively around the input shaft, the positive scale factor is used as the scale factor of the MEMS inertial measurement unit in the MEMS input-output linear model; when the MEMS inertial mass rotates reversely around its input axis, the reverse scale factor is used in the MEMS input-output linear model as the scale factor of the MEMS inertial mass.
The technical scheme of the invention has the following beneficial technical effects:
(1) The invention calculates the forward scale factor and the reverse scale factor after compensation by using the forward scale factor compensation formula and the reverse scale factor compensation formula, can online compensate the asymmetric error of the scale factor and solves the problem of non-closing MEMS azimuth.
(2) The on-line compensation method of the MEMS inertial measurement unit azimuth does not need to split devices, and device-level compensation is carried out under the condition of not increasing the system cost, so that the azimuth effective use precision of the MEMS inertial measurement unit is further improved.
Drawings
FIG. 1 is an online compensation flow chart for MEMS inertial measurement unit orientation;
FIG. 2 is a schematic view of a MEMS inertial measurement unit rotated 360 forward against a vertical wall surface;
FIG. 3 is a schematic view of the MEMS inertial frame inverted 360 against a vertical wall surface.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
As can be seen from FIG. 1, an on-line compensation method for MEMS inertial measurement unit orientation is provided, which comprises the following steps:
measuring a forward direction error angle of the MEMS inertial measurement unit, substituting the forward direction error angle into a forward scale factor error calculation formula to obtain a forward scale factor error; compensating the scale factors of the MEMS inertial group by using the forward scale factor errors, and calculating to obtain compensated forward scale factors; measuring a reverse azimuth error angle of the MEMS inertial measurement unit, substituting the reverse azimuth error angle into a reverse scale factor error calculation formula, and obtaining a reverse scale factor error; compensating the scale factors of the MEMS inertial group by using the reverse scale factor errors, and calculating the compensated reverse scale factors; the forward scale factors and the reverse scale factors are used to compensate for scale factor asymmetry errors.
On the one hand, to obtain the error of the forward scale factor, the MEMS inertial measurement unit is abutted against the vertical wall surface and rotated forward by 360 degrees to obtain the forward azimuth error angle delta theta 1 . Specifically, as shown in FIG. 2, in a three-axis coordinate system formed by XYZ, a MEMS inertial measurement unit is tightly attached to a plane formed by an X axis and a Z axis, and is positively (anticlockwise) rotated by 360 degrees to obtain a positive azimuth error angle delta theta 1 Further calculate the forward scale factor error K 1 ：
The forward scale factor error K to be derived 1 The scale factor S of the MEMS inertial measurement unit is compensated and substituted into the following formula to calculate the compensated forward scale factor S (+) ：
S (+) ＝S(1-K 1 )，
Wherein K is 1 For a forward scale factor error, S is the scale factor of the MEMS inertial group.
On the other hand, to obtain the error of the reverse scale factor, the MEMS inertial measurement unit is abutted against the vertical wall surface and is reversed by 360 degrees, so as to obtain the reverse azimuth error angle delta theta 2 . Specifically, as shown in FIG. 3, in a three-axis coordinate system formed by XYZ, the MEMS inertial measurement unit is clung to a plane formed by an X axis and a Z axis and reversely (clockwise) rotated by 360 degrees to obtain a reverse azimuth error angle delta theta 2 Further calculate the inverse scale factor error K 2 ：
The inverse scale factor error K to be derived 2 The scale factor S of the MEMS inertial measurement unit is compensated and substituted into the following formula to calculate the compensated reverse scale factor S (-) ：
S (-) ＝S(1-K 2 )，
Wherein K is 2 For reverse scale factor error, S is the scale factor of the MEMS inertial group.
The forward scaling factor S is used in the MEMS input-output linear model when the MEMS inertial mass rotates forward about its input axis (+) The method comprises the steps of carrying out a first treatment on the surface of the The inverse scale factor S is used in the MEMS input-output linear model when the MEMS inertial mass is counter-rotated about its input axis (-) ；
After the method is adopted to compensate the asymmetry error of the scale factors, the forward direction rotates 360 degrees, and the forward direction error angle generated by the forward direction scale factor error is uniformly compensated in the forward direction rotation process, so that the forward direction is closed after compensation; similarly, the reverse rotation is performed by 360 degrees, and the reverse direction error angle generated by the reverse scale factor error is uniformly compensated in the reverse rotation process, so that the compensated reverse direction is closed.
In summary, the invention provides a method for compensating pitch angle error measured by an accelerometer, which comprises the steps of measuring a positive azimuth error angle and a negative azimuth error angle of an MEMS inertial measurement unit, substituting the positive azimuth error angle and the negative azimuth error angle into a scale factor error calculation formula to obtain a positive scale factor error and a negative scale factor error; compensating the scale factors of the MEMS inertial group by using the positive scale factor error and the negative scale factor error, and calculating to obtain a compensated positive scale factor and negative scale factor; the forward scale factors and the reverse scale factors are used to compensate for scale factor asymmetry errors. The on-line compensation method for the MEMS inertial measurement unit azimuth provided by the invention has the advantages that under the condition of not increasing the system cost, devices are not required to be disassembled, the asymmetric error of the scale factors can be compensated on line, the problem that the MEMS azimuth is not closed is solved, and the effective use precision of the MEMS inertial measurement unit azimuth is further improved.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.

Claims (3)

1. An on-line compensation method for the orientation of an MEMS inertial measurement unit is characterized by comprising the following steps:
measuring a forward direction error angle of the MEMS inertial measurement unit, and calculating a forward scale factor error by a forward scale factor error calculation formula;
compensating the scale factors of the MEMS inertial group by using the forward scale factor errors, and calculating to obtain compensated forward scale factors;
measuring a reverse azimuth error angle of the MEMS inertial measurement unit, and calculating a reverse scale factor error by a reverse scale factor error calculation formula;
compensating the scale factors of the MEMS inertial group by using the reverse scale factor errors, and calculating the compensated reverse scale factors;
compensating for scale factor errors using the forward scale factors and the reverse scale factors;
when the MEMS inertial measurement unit rotates positively around the input shaft, the positive scale factor is used as the scale factor of the MEMS inertial measurement unit in the MEMS input-output linear model; when the MEMS inertial measurement unit reversely rotates around the input shaft, the reverse scale factor is used as the scale factor of the MEMS inertial measurement unit in the MEMS input-output linear model;
the MEMS inertial measurement unit is abutted against a vertical wall surface and rotated forward 360 degrees to obtain a forward direction azimuth error angle，
Calculating a forward scale factor error：
；
Calculated to obtain a compensated forward scale factor：
，
Wherein the method comprises the steps ofFor a forward scale factor error, S is the scale factor of the MEMS inertial group.
2. The method of on-line compensation of MEMS inertial measurement unit orientation of claim 1, wherein deriving the error of the inverse scale factor comprises:
the MEMS inertial measurement unit is abutted against a vertical wall surface and is reversed by 360 degrees, and a reverse azimuth error angle is obtained，
Calculating a reverse scale factor error：
。
3. The method of on-line compensation of MEMS inertial measurement unit orientation of claim 2 wherein the post-compensation inverse scale factor is calculated：
Wherein the method comprises the steps ofFor reverse scale factor error, S is the scale factor of the MEMS inertial group.
CN202110231341.XA 2021-03-02 2021-03-02 Online compensation method for MEMS inertial measurement unit azimuth Active CN114459465B (en)

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